Pose graph optimization consists in the estimation of a set of poses from pairwise measurements and provides a formalization for many problems arising in mobile robotics and geometric computer vision. In this letter, we consider two-dimensional pose estimation problems in which a subset of the measurements is spurious. Our first contribution is to develop robust estimators that can cope with heavy-tailed measurement noise, hence increasing robustness to the presence of outliers. Since the resulting estimators require solving nonconvex optimization problems, we further develop convex relaxations that approximately solve those problems via semidefinite programming. We then provide conditions for testing the exactness of the proposed relaxations. Contrary to existing approaches, our convex relaxations do not rely on the availability of an initial guess for the unknown poses, hence they are more suitable for setups in which such guess is not available (e.g., multirobot localization, recovery after localization failure). We tested the proposed techniques in extensive simulations, and we show that some of the proposed relaxations are indeed tight (i.e., they solve the original nonconvex problem exactly) and ensure accurate estimation in the face of a large number of outliers.
|Titolo:||Convex Relaxations for Pose Graph Optimization With Outliers|
|Data di pubblicazione:||2018|
|Digital Object Identifier (DOI):||10.1109/LRA.2018.2793352|
|Appare nelle tipologie:||1.1 Articolo in rivista|